EP2942313B1 - Dispositif de transport et utilisation - Google Patents

Dispositif de transport et utilisation Download PDF

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Publication number
EP2942313B1
EP2942313B1 EP15166666.6A EP15166666A EP2942313B1 EP 2942313 B1 EP2942313 B1 EP 2942313B1 EP 15166666 A EP15166666 A EP 15166666A EP 2942313 B1 EP2942313 B1 EP 2942313B1
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EP
European Patent Office
Prior art keywords
transport device
wheels
transport
support part
axle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15166666.6A
Other languages
German (de)
English (en)
Other versions
EP2942313A1 (fr
Inventor
Hans Haug
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pester Pac Automation GmbH
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Pester Pac Automation GmbH
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Filing date
Publication date
Application filed by Pester Pac Automation GmbH filed Critical Pester Pac Automation GmbH
Publication of EP2942313A1 publication Critical patent/EP2942313A1/fr
Application granted granted Critical
Publication of EP2942313B1 publication Critical patent/EP2942313B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
    • B62B3/06—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment for simply clearing the load from the ground
    • B62B3/0612—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment for simply clearing the load from the ground power operated

Definitions

  • the invention relates to a transport device for loads, with a drive for steering and driving, a control unit and a power supply, a carrier part for receiving the load being provided, the drive, control unit and power supply again being arranged within the space defined by the carrier part are.
  • the document WO 2009 043474 discloses such a device.
  • the present invention is based on the object of proposing a universally usable transport device which can be used flexibly, especially in the vicinity of packaging machines.
  • the transport device can be moved in any direction.
  • Another embodiment which is very advantageous according to the invention is when one or more Mecanum wheels are provided on at least one axle.
  • Mecanum wheels allow movement in all directions without the need for a steering axle.
  • Another very advantageous embodiment of the invention is also present when the wheels of each axle are arranged in such a way that the transport device is stably guided and supported in both the longitudinal and transverse directions with any orientation of the axles.
  • the individual wheels are designed to be rotatable and / or steerable.
  • a very advantageous further development of the invention is that a lifting device is provided which is able to lift the carrier part and the load.
  • the transport device can also drive under loads to be transported, pick them up and transport them automatically.
  • a device for raising and lowering the carrier part, driven by the wheels by rotating the axis about the vertical axis, is provided between the carrier part and each axle, whereby a clutch or an at least limited free wheel can be provided .
  • At least one safety device is provided to prevent collisions with objects or people.
  • the power supply can be charged during stops.
  • the surroundings can be recognized by sensors. Quasi-autonomous driving is thus possible. Operating states can be achieved through the actuators. With the aid of the communication means, information can be transmitted to or received from a control center or other transport devices.
  • transport device is equipped with an at least partially automatic navigation system.
  • a very advantageous use of the transport device according to the invention is when the transport device is provided within and / or between packaging machines and / or palletizers.
  • a flexible transport solution is extremely advantageous especially within packaging machines, there for the supply and removal of material and finished packaging, as well as the transfer of packaging between processing stations. So far, transport systems have been used for this, for example pulled on chains.
  • the transport device travels from processing station to processing station, and transports, picks up and delivers the objects to be processed or processed.
  • the transport device can move freely, overtake, stop or, if necessary, be discharged.
  • each transport device navigates at least largely independently according to corresponding specifications.
  • a not claimed embodiment of the transport device with a carrier part 2 and two axes 3 and 4 designated.
  • the axles 3 and 4 each carry two wheels 5.
  • the axles 3 and 4 are arranged in the region of the ends of the support part 2 and are rotatably mounted about a vertical axis.
  • the axles 3 and 4 are also assigned two drive units 6, with which the wheels 5 can be driven.
  • the axle By driving the wheels 5 in opposite directions on an axle, the axle can be rotated. This rotation lifts the support part 2 via a screw spindle 7 or lowers it. It is conceivable that a coupling for uncoupling the screw spindle 7 or a defined freewheel is provided in order to prevent an undesired change in the height of the support part 2 during steering movements of the axles.
  • the screw spindle 7 can also be driven by a separate drive motor so that it is independent of the wheels 5 and the rotation of the axle.
  • the lifting device is completely dispensed with and the transport device 1 is used as a pure shuttle, which is loaded and unloaded by other machine parts.
  • Fig. 2 the transport device 21 is shown, which has installed subframes 23 and 24 instead of axles 3 and 4, each of which is provided with four wheels 5.
  • the transport device 21 can therefore travel in any direction.
  • the wheels 5 themselves are designed to be steerable in order to avoid slippage between the wheels 5 and the roadway. This prevents unnecessary wear on the wheels and the road surface.
  • Mecanum wheels that are able to drive in all directions without being steered.
  • Sensors are provided on the transport device 1 which are able to detect the surroundings at least to the extent that collisions with objects and / or people can be avoided.
  • the transport devices 1 and 21 should be able to maneuver autonomously on a predetermined roadway 31.
  • the respective task is given to the transport devices 1 and 21. If another transport device 1 or 21 is in the way, it can be overtaken. Evasive maneuvers are also conceivable.
  • the task of this transport device is then taken over by another transport device which, for example, drives into the system from a service area.
  • the navigation and position determination of the transport devices 1 and 21 can be carried out, for example, by detecting optical features; delimitation lines, induction coils, laser marks, for example, but also by radio location are conceivable here.
  • the transport devices 1 and 21 move from one processing station to the next in a coordinated manner through a central point and can thus enable flexible transport within the packaging machine.
  • a charging device for the power supply is conceivable so that it can be recharged during short intermediate stops of the transport device 1 or 21.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Handcart (AREA)

Claims (15)

  1. Dispositif de transport (1) destiné à des charges, doté d'un entraînement dévolu au braquage et au déplacement, d'un appareil de commande et d'une alimentation en courant, une partie de support (2) étant prévue pour recevoir la charge, ledit entraînement, ledit appareil de commande et ladite alimentation en courant étant, à leur tour, logés à l'intérieur de l'espace défini par ladite partie de support (2), ledit dispositif de transport (1) comportant au moins deux essieux (3, 4) distants l'un de l'autre et respectivement munis d'au moins une, de préférence d'au moins deux roues (5), sachant qu'au moins l'une de ces roues (5) est menée à chaque fois, et sachant que lesdits essieux (3, 4) sont montés à rotation autour d'un axe vertical et sont pourvus, respectivement, d'au moins une unité d'entraînement (6) affectée à chaque roue menée (5), caractérisé par la présence de roues (5) au nombre de trois ou plus, qui forment associativement un bogie de déplacement ou de rotation (23, 24) se substituant à un essieu (3, 4).
  2. Dispositif de transport selon la revendication 1, caractérisé par le fait qu'une ou plusieurs roue(s) Mecanum est (sont) prévue(s) au moins sur un essieu (3, 4).
  3. Dispositif de transport selon la revendication 1 ou 2, caractérisé par le fait que les roues (5) de chaque essieu (3, 4) sont agencées de façon telle que ledit dispositif de transport (1) soit guidé et monté de manière stable, dans les directions tant longitudinale que transversale, quelle que soit l'orientation des essieux (3, 4).
  4. Dispositif de transport selon l'une des revendications précédentes, caractérisé par le fait que les roues individuelles (5) sont réalisées avec faculté de rotation et/ou de braquage.
  5. Dispositif de transport selon l'une des revendications précédentes, caractérisé par la présence d'un dispositif de levage apte à soulever la partie de support (2) et la charge.
  6. Dispositif de transport selon la revendication 5, caractérisé par le fait qu'un système, affecté au soulèvement et à l'abaissement de la partie de support (2), est prévu entre ladite partie de support (2) et un essieu (3, 4) considéré et est entraîné par les roues (5), sous l'effet d'une rotation dudit essieu (3, 4) autour de l'axe vertical, un accouplement, ou un ensemble à roue libre à action au moins limitée, pouvant alors être prévu.
  7. Dispositif de transport selon l'une des revendications précédentes, caractérisé par le fait qu'au moins un système de sécurité est prévu pour prévenir des collisions avec des objets ou des personnes.
  8. Dispositif de transport selon l'une des revendications précédentes, caractérisé par le fait qu'un dispositif de mise en charge est prévu pour charger l'alimentation en courant.
  9. Dispositif de transport selon l'une des revendications précédentes, caractérisé par la présence de capteurs, d'actionneurs et de moyens de communication.
  10. Dispositif de transport selon l'une des revendications précédentes, caractérisé par le fait que ledit dispositif de transport (1) est équipé d'un système de navigation au moins partiellement automatique.
  11. Utilisation d'un dispositif de transport (1) conforme à la revendication 1, caractérisée par le fait que ledit dispositif de transport (1) est prévu à l'intérieur de machines de conditionnement et/ou de palettisation, et/ou entre ces dernières.
  12. Utilisation selon la revendication 11, caractérisée par le fait que le dispositif de transport (1) se déplace d'un poste de traitement à un autre et assure alors le transport, l'enlèvement et la dépose des objets devant être respectivement traités ou transformés.
  13. Utilisation selon la revendication 11 ou 12, caractérisée par le fait que le dispositif de transport (1) se déplace sur des trajets préétablis.
  14. Utilisation selon la revendication 11, 12 ou 13, caractérisée par le fait que chaque dispositif de transport (1) navigue de manière au moins amplement autonome, en conformité avec des spécifications correspondantes.
  15. Utilisation selon la revendication 14, caractérisée par le fait qu'une commande centralisée est prévue pour plusieurs dispositifs de transport (1).
EP15166666.6A 2014-05-07 2015-05-06 Dispositif de transport et utilisation Active EP2942313B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014106403 2014-05-07

Publications (2)

Publication Number Publication Date
EP2942313A1 EP2942313A1 (fr) 2015-11-11
EP2942313B1 true EP2942313B1 (fr) 2020-10-14

Family

ID=53365717

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15166666.6A Active EP2942313B1 (fr) 2014-05-07 2015-05-06 Dispositif de transport et utilisation

Country Status (1)

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EP (1) EP2942313B1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016102230B4 (de) * 2016-02-09 2018-01-18 Pester Pac Automation Gmbh Verwendung einer Transportvorrichtung
DE102017112658A1 (de) * 2017-06-08 2018-12-13 Claus Henkel Logistikfahrzeug
NO347290B1 (en) * 2022-03-28 2023-08-28 Sp Dev As Transport apparatus and method for transporting a load

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE449988B (sv) * 1985-10-15 1987-06-01 Mecanum Ab Forfarande for finpositionering av fordon i exakta forhallanden till geografiska referensmarkeringar
US7252299B2 (en) * 2005-02-15 2007-08-07 Marine Travelift, Inc. Steering system for crane
US7826919B2 (en) * 2006-06-09 2010-11-02 Kiva Systems, Inc. Method and system for transporting inventory items
DE102007046868B9 (de) * 2007-09-28 2023-08-31 Universität Stuttgart Transportvorrichtung für Ladungsträger und Verfahren zu deren Steuerung
US8312957B1 (en) * 2008-07-08 2012-11-20 Stoltzfus Daniel R Apparatus for moving concrete pump hoses
US20120221186A1 (en) * 2011-02-28 2012-08-30 Tts Port Equipment Ab Methods and Devices for Stabilizing an AGV during Transport of Elevated Loads

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP2942313A1 (fr) 2015-11-11

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